US8655564B2 - Driver assistance system for a motor vehicle - Google Patents

Driver assistance system for a motor vehicle Download PDF

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Publication number
US8655564B2
US8655564B2 US12/734,064 US73406408A US8655564B2 US 8655564 B2 US8655564 B2 US 8655564B2 US 73406408 A US73406408 A US 73406408A US 8655564 B2 US8655564 B2 US 8655564B2
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Prior art keywords
motor vehicle
brake
vehicle
emergency braking
electrical controller
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US12/734,064
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US20100318256A1 (en
Inventor
Karsten Breuer
Ruppert Kamping
Hartmut Kitterer
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ZF CV Systems Europe BV
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Wabco GmbH
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Assigned to WABCO GMBH reassignment WABCO GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KITTERER, HARTMUT, KAMPING, RUPPERT, BREUER, KARSTEN
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Assigned to ZF CV SYSTEMS HANNOVER GMBH reassignment ZF CV SYSTEMS HANNOVER GMBH CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: WABCO GMBH
Assigned to ZF CV SYSTEMS EUROPE BV reassignment ZF CV SYSTEMS EUROPE BV ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ZF CV SYSTEMS HANNOVER GMBH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/024—Collision mitigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/03—Brake assistants

Definitions

  • the present invention generally relates to embodiments of a driver assistance system for and method of operating a motor vehicle having at least one driving data sensor for sensing driving data that characterize the driving state of the motor vehicle, and an electrical controller designed to initiate an autonomous emergency braking operation of the motor vehicle when predetermined driving data are present.
  • Driver assistance systems of the general type under consideration that initiate an autonomous emergency braking operation when predetermined driving data are present are known, for example, by the term braking assistance system or ACC (Adaptive Cruise Control) system.
  • braking assistance system Adaptive Cruise Control
  • Such driver assistance systems sense a multiplicity of driving data of the motor vehicle and determine, on the basis of an algorithm, whether there is a high probability of a situation being present in which there is a risk of an accident due to the fact that the driver of the motor vehicle is too hesitant or does not brake at all even though the driver ought to do so.
  • conventional driver assistance systems end the intervention and assign the steering of the vehicle completely to the driver again.
  • a disadvantage with conventional driver assistance systems is that they are only capable of avoiding or alleviating the consequences of accidents that are due to driver error.
  • a driver assistance system that includes and leverages a preceding vehicle detection device configured to detect a preceding vehicle located in front of the motor vehicle in a direction of travel of the motor vehicle, wherein the electrical controller is configured to hold a brake of the motor vehicle in a braking position or to move it into the braking position immediately after an emergency braking operation if the preceding vehicle detection device detects the preceding vehicle.
  • a method for operating a motor vehicle including the steps of: (i) sensing whether an emergency braking operation has been carried out immediately beforehand, (ii) if this is the case, sensing whether a preceding vehicle is located in front of the motor vehicle in a direction of travel of the motor vehicle, (iii) if this is the case, sensing whether the motor vehicle is stationary, and (iv) if this is the case, moving the brake into a brake position or holding it in the braking position.
  • an advantage of the present invention is that it is possible to avoid a situation in which a vehicle driving into the rear of a motor vehicle that is already stationary after an emergency braking operation causes the motor vehicle to collide with the preceding vehicle, and damages the preceding vehicle. In such a situation, damage to the front side of the motor vehicle is also prevented.
  • inventive embodiments are also advantageous. For example it is sufficient to reprogram existing driver assistance systems in order to be able to carry out the inventive embodiments. It is also advantageous that even if the driver of the motor vehicle is injured or even unconscious owing to the accident, the motor vehicle is held securely in place insofar as is necessary in view of the fact that a preceding vehicle is located in front of the motor vehicle.
  • an emergency braking operation is understood in particular to be a braking maneuver in which a braking force above a predefined limiting value, in particular a maximum braking force, is applied. This braking force acts, in particular, on the service brakes of the motor vehicle until the vehicle has come to a standstill.
  • a braking force above a predefined limiting value, in particular a maximum braking force, is applied.
  • This braking force acts, in particular, on the service brakes of the motor vehicle until the vehicle has come to a standstill.
  • Such an emergency braking operation may be autonomous or driver-controlled.
  • a preceding vehicle detection device is to be understood, in particular, as any device that is designed and provided for determining the presence of a vehicle in front of the motor vehicle in the direction of travel.
  • This preceding vehicle detection device may be configured such that it only senses vehicles above a certain size as vehicles.
  • Examples of preceding vehicle detection devices are distance sensors such as radar sensors or ultrasonic sensors or cameras such as, for example, a lane-keeping camera or a camera of an accident data recorder.
  • a driving data sensor is understood, in particular, to be any device that outputs an electrical signal from which the state of movement of the motor vehicle can be derived. Examples of driving data sensors are acceleration sensors, yaw rate sensors, speed sensors, steering angle sensors or brake pedal position sensors.
  • the preceding vehicle detection device outputs, for example at regular time intervals, a presence signal that encodes the possible presence of a preceding vehicle. Interruption in a non-presence signal, which otherwise occurs continuously, is also understood as equivalent to outputting the presence signal.
  • the electrical controller should be capable of detecting whether a preceding vehicle is present. After an emergency braking operation, the electrical controller senses whether a preceding vehicle is present, and if this is the case it actuates a service brake or preferably a parking brake that securely parks the motor vehicle.
  • the electrical controller is configured to move the brake, in particular the service brake and/or the parking brake, into a release position or to hold it in the release position after an emergency braking operation if a preceding vehicle is not detected. It is possible to provide that the release signal is not output if the brake pedal is actuated by the driver.
  • the driver assistance system includes a speed sensor, wherein the electrical controller is configured to move a parking brake into the braking position if the motor vehicle starts to roll again under its own power after a stationary state owing to an emergency braking operation. This may occur, for example, if a vehicle drives into the motor vehicle from the rear, the motor vehicle is on a section of road with a negative gradient, or the engine unintentionally starts the motor vehicle moving by means of a viscous clutch.
  • the electrical controller also preferably continuously senses inputs by the driver via an input device and carries out the actions described above only when there is no contradictory input by the driver.
  • the electrical controller is configured to move the brake into the braking position or the release position or to hold the brake in the brake position or release position only after an autonomous emergency braking operation.
  • the electrical controller is preferably configured such that it continuously stops the motor vehicle only after an autonomous emergency braking operation.
  • the electrical controller it is alternatively also possible for the electrical controller to be configured such that after any emergency braking operation it moves the brake of the motor vehicle into the braking position or holds it there if an emergency braking operation has been carried out, whether autonomous or initiated by the driver.
  • the electrical controller is preferably configured to trigger an autonomous emergency braking operation of the motor vehicle by virtue of the fact that it transmits a corresponding braking signal to a service brake of the motor vehicle, wherein a parking brake is moved into the braking position after the emergency braking operation.
  • the service brake of the motor vehicle can also be held in the braking position or moved into the braking position.
  • a deactivation device is provided for manually deactivating the driver assistance system.
  • the present invention accordingly comprises the features of construction, combination of elements, arrangement of parts, and the various steps and the relation of one or more of such steps with respect to each of the others, all as exemplified in the constructions herein set forth, and the scope of the invention will be indicated in the claims.
  • FIG. 1 shows a motor vehicle according to an embodiment of the present invention.
  • FIG. 1 shows a motor vehicle 10 that when operating travels in a direction F on a roadway 12 .
  • the roadway 12 has a lane marking 14 on the left in the direction of travel, and a lane boundary marking 16 on the right in the direction of travel.
  • a driving data sensor 20 in the form of a radar distance meter, which senses a distance A from a vehicle 22 traveling in front at time intervals of, for example, less than a second, that is quasi-continuously, is located on a front side 18 of the motor vehicle 10 .
  • the motor vehicle 10 has, on the front side 18 , a lane-keeping camera 24 the field of view G of which is configured such that the lane marking 14 and the lane boundary marking 16 can be sensed. Images taken by the lane-keeping camera 24 are transferred to an electrical controller 26 that is also in contact with the driving data sensor 20 . On the basis of the driving data of the driving data sensor 20 and images of the lane-keeping camera 24 , the electrical controller 26 determines continuously whether a driving situation of the motor vehicle 10 that requires autonomous partial braking or full braking is present.
  • an accident data recorder 28 is provided into which data that are buffered by the electrical controller 26 , in particular images of the lane-keeping camera 24 , are written.
  • the motor vehicle 10 also comprises a deceleration sensor 29 , a reversing camera 30 , a yaw rate sensor 32 and a steering angle sensor 34 , which are all in contact with the electrical controller 26 .
  • the electrical controller 26 If the electrical controller 26 detects data that suggest the presence of an emergency braking situation owing to an internally occurring algorithm, the electrical controller 26 actuates the service brakes 36 . 1 , 36 . 2 , 36 . 3 , 36 . 4 , which brake the motor vehicle 10 with maximum deceleration. If a speed sensor 38 senses a speed that is so low that it can be considered to be zero, the electrical controller 26 compares the distance A with a predefined threshold value A threshold . If this threshold value A threshold is undershot, this is a sign that a vehicle 22 traveling in front is located just in front of the motor vehicle 10 .
  • the threshold value A threshold may be, for example, 3 m.
  • the electrical controller 26 sends a signal to the service brakes, after which the service brakes remain in the braking position. This is equivalent to a situation in which the electrical controller 26 does not transmit a signal to the service brakes, which moves them actively into the release position. Alternatively, the electrical controller 26 sends a signal to parking brakes 39 . 1 , 39 . 2 , which subsequently go into a braking position and securely park the motor vehicle 10 . If a further vehicle approaches the motor vehicle 10 from behind, there is therefore no rear-end collision with the preceding vehicle 22 .
  • the electrical controller 26 transmits a signal, with the result that the service brakes are moved into a release position. If the service brakes are, for example, pneumatic brakes, compressed air is applied to them in such a way that they no longer brake the vehicle. Alternatively, parking brakes 39 . 1 , 39 . 2 , which are actuated in any way are moved into a release position.
  • a deactivation device 40 can be provided that, when activated, causes the electrical controller 26 to activate the service brakes only to the extent that such activation still corresponds to a position of a brake pedal (not indicated), and the parking brakes to be moved into a position that corresponds to the activation position of an activation switch that can be activated by the driver.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Braking Systems And Boosters (AREA)
US12/734,064 2007-10-20 2008-07-17 Driver assistance system for a motor vehicle Active 2030-09-12 US8655564B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007050221 2007-10-20
DE102007050221A DE102007050221A1 (de) 2007-10-20 2007-10-20 Fahrerassistenzsystem für einen Kraftwagen
DE102007050221.6 2007-10-20
PCT/EP2008/005819 WO2009049697A1 (de) 2007-10-20 2008-07-17 Fahrerassistenzsystem für einen kraftwagen

Publications (2)

Publication Number Publication Date
US20100318256A1 US20100318256A1 (en) 2010-12-16
US8655564B2 true US8655564B2 (en) 2014-02-18

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US12/734,064 Active 2030-09-12 US8655564B2 (en) 2007-10-20 2008-07-17 Driver assistance system for a motor vehicle

Country Status (6)

Country Link
US (1) US8655564B2 (de)
EP (1) EP2214940B1 (de)
CN (1) CN101801746B (de)
AT (1) ATE497903T1 (de)
DE (2) DE102007050221A1 (de)
WO (1) WO2009049697A1 (de)

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US9566958B2 (en) 2010-11-17 2017-02-14 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system in a motor vehicle
US20210245704A1 (en) * 2020-02-07 2021-08-12 WABCO Global GmbH Vehicle security system
US20220096290A1 (en) * 2020-09-25 2022-03-31 Rajeev Ramanath System and method to control multiple inputs provided to a powered wheelchair
US12280847B2 (en) * 2022-03-29 2025-04-22 Honda Motor Co., Ltd. Driver assistance system for motorcycle

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WO2019073578A1 (ja) * 2017-10-12 2019-04-18 本田技研工業株式会社 車両並びにその制御装置及び制御方法
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JP2020077260A (ja) 2018-11-08 2020-05-21 朝日電装株式会社 車両用制御システム
KR102705149B1 (ko) * 2018-12-06 2024-09-12 현대자동차주식회사 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량
CN109733357B (zh) * 2018-12-28 2021-05-11 芜湖文青机械设备设计有限公司 一种基于座椅感应的汽车安全制动系统及其制动方法
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KR20230060303A (ko) * 2021-10-27 2023-05-04 에이치엘만도 주식회사 전자식 주차 브레이크 시스템 및 그 안전 제어 방법

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US9566958B2 (en) 2010-11-17 2017-02-14 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system in a motor vehicle
US20210245704A1 (en) * 2020-02-07 2021-08-12 WABCO Global GmbH Vehicle security system
US11745698B2 (en) * 2020-02-07 2023-09-05 Zf Cv Systems Global Gmbh Vehicle security system
US20220096290A1 (en) * 2020-09-25 2022-03-31 Rajeev Ramanath System and method to control multiple inputs provided to a powered wheelchair
US12042443B2 (en) * 2020-09-25 2024-07-23 Rajeev Ramanath System and method to control multiple inputs provided to a powered wheelchair
US12280847B2 (en) * 2022-03-29 2025-04-22 Honda Motor Co., Ltd. Driver assistance system for motorcycle

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ATE497903T1 (de) 2011-02-15
DE502008002586D1 (de) 2011-03-24
DE102007050221A1 (de) 2009-04-30
CN101801746A (zh) 2010-08-11
WO2009049697A1 (de) 2009-04-23
EP2214940B1 (de) 2011-02-09
US20100318256A1 (en) 2010-12-16
CN101801746B (zh) 2014-08-06
EP2214940A1 (de) 2010-08-11

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